JPWO2018012116A1 - INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND PROGRAM - Google Patents

Abstract

An information processing apparatus, an information processing method, and a program capable of determining the reliability of positioning information are provided.
According to the present disclosure, an information processing apparatus includes a control unit that determines the reliability of positioning information of a user calculated based on detection information output from a detection unit incorporated in a portable information processing apparatus. An apparatus is provided. According to the present disclosure, it is possible to determine the reliability of positioning information. Note that the above-mentioned effects are not necessarily limited, and, along with or in place of the above-mentioned effects, any of the effects shown in the present specification, or other effects that can be grasped from the present specification May be played.
[Selected figure] Figure 6

Description

  The present disclosure relates to an information processing device, an information processing method, and a program.

  For example, as disclosed in Patent Document 1, PDR (Pedestrian Dead Reckoning) using a portable information processing apparatus is known. In this technology, the estimated traveling direction of the user is calculated based on the detection information output from the built-in sensor of the portable information processing apparatus.

JP, 2013-234919, A

  By the way, when a gap occurs between the estimated traveling direction and the actual traveling direction (that is, when the reliability of the estimated traveling direction is lowered), the user may have a sense of discomfort in the estimated traveling direction. However, no technique has been proposed for determining the reliability of positioning information such as an estimated heading.

  Thus, the present disclosure provides an information processing device, an information processing method, and a program that can determine the reliability of positioning information.

  According to the present disclosure, an information processing apparatus is provided that includes a control unit that determines the reliability of positioning information of a user calculated based on detection information output from a detection unit incorporated in a portable information processing apparatus. Ru.

  According to the present disclosure, there is provided an information processing method including: determining by a processor a reliability of positioning information of a user calculated based on detection information output from a detection unit incorporated in the portable information processing apparatus. Provided.

  According to the present disclosure, there is provided a program that causes a computer to realize a control function of determining the reliability of positioning information of a user calculated based on detection information output from a detection unit incorporated in a portable information processing apparatus. Provided.

  As described above, according to the present disclosure, it is possible to determine the reliability of the estimated heading. Note that the above-mentioned effects are not necessarily limited, and, along with or in place of the above-mentioned effects, any of the effects shown in the present specification, or other effects that can be grasped from the present specification May be played.

It is explanatory drawing which shows an example of the usage condition of a portable information processing apparatus. It is explanatory drawing which shows an example of the usage condition of a portable information processing apparatus. It is explanatory drawing which shows an example of the usage condition of a portable information processing apparatus. It is explanatory drawing which shows an example of the usage condition of a portable information processing apparatus. It is explanatory drawing which shows an example of the usage condition of a portable information processing apparatus. It is a block diagram showing an example of an internal configuration of a portable information processor concerning this indication. It is a block diagram showing the example of hardware constitutions of a portable type information processor. It is a flowchart which shows an example of the process by a portable information processing apparatus. It is a flowchart which shows an example of the process by a portable information processing apparatus. It is a flowchart which shows an example of the process by a portable information processing apparatus. It is a flowchart which shows an example of the process by a portable information processing apparatus. It is a flowchart which shows an example of the process by a portable information processing apparatus. It is a flowchart which shows an example of the process by a portable information processing apparatus. It is explanatory drawing which shows an example of the image displayed on the display part of a portable information processing apparatus. It is explanatory drawing which shows an example of the image displayed on the display part of a portable information processing apparatus. It is explanatory drawing which shows an example of the image displayed on the display part of a portable information processing apparatus. It is explanatory drawing which shows an example of the image displayed on the display part of a portable information processing apparatus. It is explanatory drawing which shows an example of the image displayed on the display part of a portable information processing apparatus. It is explanatory drawing which shows an example of the image displayed on the display part of a portable information processing apparatus. It is explanatory drawing which shows an example of the image displayed on the display part of a portable information processing apparatus. It is explanatory drawing which shows an example of the image displayed on the display part of a portable information processing apparatus. It is explanatory drawing which shows an example of the image displayed on the display part of a portable information processing apparatus.

  Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration will be assigned the same reference numerals and redundant description will be omitted.

The description will be made in the following order.
1. Overview of PDR using a portable information processing apparatus Factors that decrease the reliability of PDR Configuration of portable information processing apparatus 4. Processing example by portable information processing apparatus 4-1. Processing example 1
4-2. Processing example 2
4-3. Processing example 3
4-4. Processing example 4

<1. Overview of PDR>
As a result of intensive investigation on PDR using a portable information processing apparatus, the present inventor has conceived of the technology according to the present embodiment. Therefore, first, an outline of PDR using a portable information processing apparatus will be described.

  In PDR using a portable information processing apparatus, an estimated traveling direction of the user is calculated based on detection information output from a built-in sensor of the portable information processing apparatus. Here, the built-in sensor is, for example, an acceleration sensor, a gyro sensor, a geomagnetic sensor or the like. PDR may be used, for example, in a place (for example, indoor) where a positioning method (for example, GPS (Global Positioning System)) capable of measuring the absolute position of the user can not be used.

  Specifically, first, an initial value (so-called initial direction) of the direction of the portable information processing apparatus is specified. Here, the direction of the portable information processing apparatus is a so-called yaw direction (direction in a horizontal plane). The initial orientation of the portable information processing apparatus is, for example, the traveling orientation of the user measured by GPS immediately before starting positioning by PDR. That is, the yaw direction measured by the measurement method capable of measuring the absolute direction of the user is set as the initial direction. In some cases, the yaw direction specified by the detection information of the geomagnetic sensor may be set as the initial direction. Further, there is also a case where a preset yaw direction is set as the initial direction. The yaw direction of the portable information processing apparatus can not be calculated only from the detection information output from the acceleration sensor and the gyro sensor.

  Next, based on detection information output from a built-in sensor (for example, a gyro sensor), the variation amount of the yaw direction is calculated. Thereby, the current yaw direction of the portable information processing apparatus is specified. Then, the direction of the portable information processing apparatus is taken as the estimated traveling direction of the user.

  As described above, in the PDR using the portable information processing apparatus, the orientation of the portable information processing apparatus is sequentially updated based on the detection information output from the built-in sensor of the portable information processing apparatus. Then, the direction of the portable information processing device is regarded as the estimated traveling direction of the user. Then, in the PDR, the current position of the user (that is, the movement amount from the start of PDR positioning) and the speed are estimated based on the estimated traveling direction of the user, the stride of the user, the walking pitch and the like. The estimated traveling direction, position, and velocity of the user measured by PDR or another positioning method are collectively referred to as “positioning information”.

<2. Factors that decrease the reliability of PDR>
Thus, in PDR, it is assumed that the orientation of the portable information processing apparatus matches the actual traveling orientation of the user. If the user and the portable information processing apparatus move integrally as in the case where the portable information processing apparatus is in close contact with the user's body, the two often coincide with each other. Therefore, the user's heading can be detected with high accuracy. That is, the reliability of the estimated heading is high. However, when a shift occurs between the orientation of the portable information processing device and the actual heading of the user, the reliability of the estimated heading direction is reduced.

  Therefore, the present inventors diligently studied the factors that reduce the reliability of the estimated traveling direction. As a result, the inventor found several factors. The first factor is, as exemplified in FIG. 1 and FIG. The person U in FIG. 1 is a user of the portable information processing apparatus 100. The same applies to the other figures. In the example of FIG. 1 and FIG. 2, the user takes out the portable information processing apparatus 100 from the pocket and holds it in his hand. As a result, the attitude of the portable information processing apparatus 100 changes, and the orientation also changes. However, the user's heading direction hardly changes. As a result, a shift occurs between the orientation of the portable information processing apparatus, that is, the estimated traveling orientation of the user and the actual traveling orientation of the user.

  The second factor is the rotation of the portable information processing apparatus 100 in the horizontal plane, as illustrated in FIG. Even when such an operation is performed, the direction of the portable information processing apparatus 100 changes, but the actual traveling direction of the user hardly changes. The third factor is when the user starts lateral movement (for example, walking sideways) as illustrated in FIG. In this case, the direction of the portable information processing apparatus 100 does not change, but the direction of movement of the user changes. The fourth factor is when the user starts moving backward (for example, walking backward) as illustrated in FIG. In this case, the direction of the portable information processing apparatus 100 does not change, but the direction of movement of the user changes. As described above, although the reliability of the estimated traveling direction is reduced due to various factors, no technique for determining the reliability has been proposed. The present inventor has conceived of the technology according to the present embodiment by intensively examining the above factors and the like.

<3. Configuration of Portable Information Processing Apparatus>
Next, a schematic configuration of the portable information processing apparatus 10 according to the present embodiment will be described based on FIGS. 6 and 7. As shown in FIG. 6, the portable information processing apparatus 10 includes a detection unit 11, a communication unit 12, an operation unit 13, a display unit 14, an interface unit 15, and a control unit 16. The portable information processing apparatus 10 may be any information processing apparatus that can be carried by the user and has functions to be described later. Examples of the portable information processing apparatus 10 include a smartphone, a tablet, a mobile phone, and the like.

  The detection unit 11 includes, for example, an acceleration sensor 21a, a gyro sensor 21b, and a geomagnetic sensor 21c shown in FIG. Here, the built-in sensors that constitute the detection unit 11 are not limited to these sensors, and any sensor that can output detection information for specifying the attitude of the portable information processing apparatus 10 may be used. good. Further, any one of the acceleration sensor 21a, the gyro sensor 21b, and the geomagnetic sensor 21c may be omitted. However, the portable information processing apparatus 10 preferably includes at least the acceleration sensor 21a. The detection unit 11 outputs various types of detection information to the control unit 16. For example, the acceleration sensor 21 a outputs acceleration information to the control unit 16. The gyro sensor 21 b outputs gyro information (that is, angular velocity information) to the control unit 16. The geomagnetic sensor 21 c outputs geomagnetic information to the control unit 16.

  The communication unit 12 includes, for example, the communication antenna 23 and the communication circuit 24 illustrated in FIG. The communication unit 12 transmits and receives various communication information. For example, the communication unit 12 receives GPS information. The communication unit 12 outputs the received communication information to the control unit 16. The communication circuit 24 includes, for example, a telephone communication circuit, a Wifi communication circuit, and a GPS communication circuit, but is not limited to these examples.

  The operation unit 13 includes, for example, the operation button 29 and the touch panel 30 shown in FIG. The operation unit 13 receives an input of operation information by the user. Then, the operation unit 13 outputs the input operation information to the control unit 16.

  The display unit 14 includes, for example, a display panel 31 shown in FIG. The display unit 14 displays various images (for example, positioning information and the like).

  The interface unit 15 includes, for example, an external interface circuit 32 shown in FIG. The interface unit 15 is a connection portion for connecting the portable information processing apparatus 10 to another information processing apparatus or the like.

  The control unit 16 includes, for example, a central processing unit (CPU) 25, a read only memory (ROM) 26, a random access memory (RAM) 27, and a non-volatile memory 28 as shown in FIG. 7. The control unit 16 controls the components of the portable information processing apparatus 10 and performs, for example, the following processing. Specifically, the control unit 16 calculates the estimated traveling direction of the user based on the detection information. Furthermore, the control unit 16 calculates the position and speed of the user based on the estimated traveling direction of the user, the stride and the walking pitch. That is, the control unit 16 generates positioning information using PDR.

  Furthermore, the control unit 16 evaluates the reliability of the estimated traveling direction calculated using PDR. Then, when the reliability decreases, the control unit 16 generates positioning information using another positioning method, and performs processing such as displaying to the user that the reliability has decreased. Details of these processes will be described later. The control unit 16 may determine the reliability of other positioning information. Here, other positioning information may include, for example, speed, position, and the like. That is, the positioning information to be determined by the control unit 16 may include at least one of the estimated traveling direction, the speed, and the position. Then, when the reliability of the estimated traveling direction is low, the control unit 16 may determine that the reliability of the speed and the position also decreases. In addition, the control unit 16 may display these pieces of positioning information in a display mode according to the reliability.

  Here, the hardware configuration of the portable information processing apparatus 10 will be described. As illustrated in FIG. 7, the portable information processing apparatus 10 includes an acceleration sensor 21 a, a gyro sensor 21 b, a geomagnetic sensor 21 c, A / D converters 22 a to 22 c, a communication antenna 23, and a communication circuit 24. The portable information processing apparatus 10 further includes a CPU 25, a ROM 26, a RAM 27, a non-volatile memory 28, an operation button 29, a touch panel 30, a display panel 31, an external interface circuit 32, and a bus 33.

  The acceleration sensor 21 a, the gyro sensor 21 b, and the geomagnetic sensor 21 c are examples of built-in sensors of the portable information processing apparatus 10. The acceleration sensor 21a detects the acceleration of the portable information processing apparatus 10, and outputs acceleration information. The gyro sensor 21b detects the angular velocity of the portable information processing apparatus 10 and outputs gyro information. The geomagnetic sensor 21 c detects the geomagnetism acting on the portable information processing apparatus 10 and outputs geomagnetic information. The A / D converters 22a to 22c A / D convert the information output from the respective built-in sensors, that is, the detection information, and output the converted information to the CPU 25 or the like. The communication circuit 24 outputs various communication information received from the communication antenna 23 to the CPU 25 or the like. Further, communication information given from the CPU 25 or the like is transmitted from the communication antenna 23 to another information processing apparatus. The CPU 25 reads and executes the program stored in the ROM 26. Therefore, the CPU 25 (that is, the processor) functions as an operation subject of the portable information processing apparatus 10. The ROM 26 stores programs and the like necessary for the operation of the portable information processing apparatus 10. The RAM 27 is used as a work area or the like by the CPU 25. Various information is stored in the non-volatile memory 28. The operation button 29 and the touch panel 30 receive operation information input by the user. The display panel 31 displays various images. The external interface circuit 32 is a connection portion for connecting the portable information processing apparatus 10 to another information processing apparatus or the like. The bus 33 connects each hardware configuration.

<4. Processing example by portable information processing apparatus>
(4-1. Process example 1)
Next, processing example 1 by the portable information processing apparatus 10 will be described based on FIGS. 8 to 9. In this processing example 1, while the portable information processing device 10 performs positioning by PDR, it determines the reliability of the estimated traveling direction by PDR based on the posture change of the portable information processing device 10. For example, when the user uses the portable information processing device 10 in the usage mode (change of holding of the portable information processing device 10) shown in FIGS. 1 and 2, the attitude of the portable information processing device 10 changes. In response to this, a shift may occur between the orientation of the portable information processing device 10 and the actual heading of the user. Therefore, according to processing example 1, when there is a change in the use mode as shown in FIG. 1 and FIG. 2, it is possible to detect a decrease in the reliability of the estimated traveling direction.

  The portable information processing apparatus 10 first calculates the initial attitude of the portable information processing apparatus 10 by performing the initial attitude determination process shown in FIG. 8. Specifically, in step S10, the control unit 16 buffers the acceleration information provided from the detection unit 11.

  In step S20, the control unit 16 determines whether or not the elapsed time from the start of the buffer of the acceleration information is equal to or more than a predetermined time. If the control unit 16 determines that the elapsed time has reached the predetermined time or more, the process proceeds to step S30. If the control unit 16 determines that the elapsed time is less than the predetermined time, the process returns to step S10. Here, the predetermined time is not particularly limited, but may be, for example, 4 to 6 seconds, or about 5 seconds.

  In step S30, the control unit 16 calculates an average value of the acceleration information buffered for a predetermined time. Here, the average value may be a so-called arithmetic average value or a value obtained by applying a low pass filter. Next, the control unit 16 calculates a gravity vector based on the average value of the acceleration information. Here, the coordinate system of the gravity vector is a so-called local coordinate system.

  In step S40, the control unit 16 calculates the initial attitude of the portable information processing apparatus 10 based on the gravity vector. Specifically, the control unit 16 calculates the pitch angle and the roll angle of the portable information processing apparatus 10 based on the gravity vector and the rotation matrix that performs conversion from the local coordinate system to the global coordinate system. This rotation matrix is also referred to as DCM (Discrete Cosine Matrix).

  Further, the control unit 16 calculates the yaw direction (yaw direction angle) of the portable information processing apparatus 10. However, the yaw direction can not be determined from the gravity vector. Therefore, for example, the control unit 16 sets the traveling direction of the user measured using GPS or Wifi just before starting the initial attitude determination process (that is, starting positioning by PDR) as the yaw direction. That is, the yaw direction measured by the measurement method capable of measuring the absolute direction of the user is set as the initial direction. The yaw direction specified by the detection information of the geomagnetic sensor may be set as the initial direction. In addition, a yaw orientation set in advance may be set as the initial orientation. In addition, although the error of a short time is large compared with PDR in the positioning method using GPS or Wifi, it is hard to produce accumulation of an error, divergence, etc.

  Then, the control unit 16 defines the yaw direction, the pitch angle, and the roll angle of the portable information processing device 10 as the attitude of the portable information processing device 10. That is, the attitude of the portable information processing apparatus 10 is defined by the yaw direction, the pitch angle, and the roll angle. These parameters are values in the global coordinate system.

  In step S50, the control unit 16 records the current posture as the reference posture. Also, the control unit 16 sets the current gravity vector as a reference gravity vector. In addition, the control unit 16 sets the current yaw direction of the portable information processing device 10 as the estimated traveling direction of the user. Furthermore, the control unit 16 calculates the position, speed, and estimated traveling direction of the user based on the estimated traveling direction of the user, the stride and the walking pitch. Then, the control unit 16 sets these as positioning information (positioning information by PDR). Thereafter, the control unit 16 ends the initial attitude determination process.

  Next, the control unit 16 performs the reliability determination process shown in FIG. Specifically, in step S60, the control unit 16 acquires gyro information from the detection unit 11.

  In step S70, the control unit 16 performs processing based on the gyro information and the attitude of the portable information processing apparatus 10 calculated in the previous reliability determination process (the initial attitude determination process when performing the reliability determination process for the first time). The attitude of the current portable information processing apparatus 10 is calculated. The control unit 16 may calculate the current attitude of the portable information processing apparatus 10 by performing the same processing as steps S10 to S40. However, the attitude can be calculated more accurately by using the gyro information. Further, the control unit 16 sets the yaw direction as the current estimated traveling direction among the current postures of the portable information processing apparatus 10. Then, the control unit 16 generates current positioning information based on the current estimated traveling direction, the number of steps, and the stride. That is, the control unit 16 performs positioning by PDR in parallel with the reliability determination process.

  In step S80, the control unit 16 calculates the difference between the current attitude of the portable information processing device 10 and the reference attitude. Specifically, the control unit 16 calculates the current gravity vector based on the current attitude of the portable information processing apparatus 10. Then, the control unit 16 calculates the difference angle of these gravity vectors based on the inner product of the current gravity vector and the reference gravity vector. That is, the control unit 16 calculates a difference angle with the reference posture. Next, the control unit 16 determines whether the difference angle with the reference posture is equal to or more than a predetermined value. If the control unit 16 determines that the difference angle is equal to or greater than the predetermined value, the process proceeds to step S100. If the control unit 16 determines that the difference angle is less than the predetermined value, the process proceeds to step S90. Here, the predetermined value is not particularly limited, and may be about 30 to 60 ° or about 45 °. Although the posture of the portable information processing device 10 fluctuates while the user is walking, in this case, it can be said that the direction of the portable information processing device 10 matches the actual traveling direction of the user. By performing the process of step S80, such a change in posture can be removed from the factor of the decrease in reliability.

  Here, the predetermined value may be set in a plurality of stages. In this case, the control unit 16 may proceed to step S90 until the difference angle becomes equal to or greater than the maximum predetermined value. And control part 16 may display positioning information by PDR in a display mode according to reliability in Step S90.

  In step S90, the control unit 16 determines that the reliability of the estimated traveling direction by the PDR is high, and continues to use the positioning information by the PDR. For example, the control unit 16 displays positioning information by PDR on the display unit 14. A display example will be described later. The control unit 16 may provide the positioning information to any application (for example, a map application). The control unit 16 can use the positioning information when executing the application. Thereafter, the control unit 16 ends the reliability determination process. Thereafter, the control unit 16 repeatedly performs the reliability determination process.

  In step S100, the control unit 16 determines that the reliability of the estimated traveling direction by the PDR is low, and stops the use of the positioning information by the PDR. Therefore, when the posture change of the portable information processing apparatus 10 is large, the control unit 16 determines that the deviation between the estimated traveling direction of the user and the actual traveling direction becomes large.

  Here, the control unit 16 may display to the user that the reliability of the estimated traveling direction has decreased. For example, the control unit 16 may stop the display of the positioning information. Further, the control unit 16 may display that the display of the positioning information by the PDR is to be stopped. The control unit 16 may notify the user of the content by voice. A specific display example will be described later. In addition, the control unit 16 may provide the application (for example, a map application) that uses the positioning information by PDR as the decrease in the reliability of the estimated traveling direction by the PDR. In response to this, the application can use positioning information by another positioning method instead of using positioning information by PDR.

  In addition, the control unit 16 may continue to use the positioning information by PDR. In this case, the control unit 16 may change the display mode of the positioning information. As a result, the control unit 16 can notify the user that the reliability of the estimated traveling direction has decreased. A specific display mode will be described later.

  In step S110, the control unit 16 attempts to acquire positioning information by another positioning method (for example, a method using GPS, a method using Wifi, etc.). The control unit 16 repeatedly performs the process of S110 until the positioning information can be acquired by another positioning method, and when the positioning information can be acquired, the process proceeds to step S120. In addition, the control part 16 may complete | finish a reliability determination process, when the positioning information by another positioning method can not be acquired.

  In step S120, the control unit 16 sets the yaw direction obtained by another positioning method as the estimated traveling direction of the user. Furthermore, the control unit 16 specifies the current posture by replacing the yaw direction with the estimated traveling direction among the current postures of the portable information processing apparatus 10. Next, the control unit 16 sets the current posture as the reference posture. Also, let the current gravity vector be a reference gravity vector. Thereafter, the control unit 16 ends the present process. Thereafter, the control unit 16 repeatedly performs the reliability determination process. Therefore, control part 16 acquires positioning information using other positioning methods, when the reliability of the presumed advance direction by PDR falls. Then, the control unit 16 specifies the estimated traveling direction of the user using this positioning information. Furthermore, the control unit 16 identifies the current posture of the portable information processing device 10 using this estimated traveling direction, and sets this as the reference posture. That is, the reference attitude is updated. Thereafter, the control unit 16 repeatedly performs the reliability determination process. Therefore, when the difference angle between the current attitude of the portable information processing device 10 and the reference attitude returns to less than the predetermined value, the control unit 16 resumes the positioning by PDR.

  Here, a display example will be described based on FIGS. 14 to 19. Of course, the display example is not limited to the following example. In the display example shown in FIG. 14, the control unit 16 displays a current position marker A indicating the current position of the user and the movement locus 300. The movement trajectory 300 is obtained from positioning information by PDR. FIG. 14 and the like also show the actual movement locus 200 of the user. In this display example, the control unit 16 stops the display of the movement trajectory 300 when it is determined that the reliability of the estimated traveling direction by the PDR has decreased. The movement trajectory 300 is displayed when the reliability of the estimated traveling direction by the PDR is high. In addition, the control unit 16 fixes the position of the current position marker A. Thereby, the control unit 16 can notify the user that the reliability of the estimated traveling direction by the PDR has decreased and that the positioning by the PDR has been stopped. The current position marker A may be deleted.

  In the display example shown in FIG. 15, the control unit 16 continues using the positioning information by PDR even after the reliability decreases. However, the control unit 16 displays the movement trajectory 301 after the reliability decreases in a display mode (for example, a different color, a thickness, a blinking mode, or the like) different from the movement trajectory 300 before the reliability decreases. In FIG. 15, the fact that the display mode is different is expressed by line thickness and line type. As a result, the control unit 16 can notify the user that the reliability of the estimated traveling direction by PDR has decreased.

  In the display example shown in FIG. 16, the control unit 16 displays the movement trajectory 302 acquired by another positioning method after the reliability is lowered. In this example, another positioning method is a method using GPS. The display mode of the movement trajectory 302 is different from the display mode of the movement trajectory 300. For example, color, thickness, etc. are different. In FIG. 16, the fact that the display mode is different is expressed by line thickness and line type. Also by this display example, the control unit 16 can notify the user that the reliability of the estimated traveling direction by the PDR has decreased and that the positioning method has been changed. Note that, in FIG. 16, even after the positioning method is changed, the state in which the difference angle is large is maintained (the process proceeds from step S80 to step S100). Of course, even if the difference angle with the reference posture is less than the predetermined value, the movement trajectory 302 acquired by another positioning method may be displayed as shown in FIG. In this case, PDR positioning may be resumed at an arbitrary timing (for example, timing when positioning by another positioning method has become impossible).

  The display examples of FIGS. 17 to 19 are display examples when predetermined values are set stepwise. In the display example of FIG. 17, the predetermined value is set in two stages (first predetermined value <second predetermined value). The first predetermined value may be, for example, about 20 °, and the second predetermined value may be about 45 °. When the difference angle between the current attitude of the portable information processing apparatus 10 and the reference attitude is smaller than the first predetermined value, the control unit 16 displays the movement locus 300. In this case, the reliability of the estimated traveling direction by PDR is high. The control unit 16 displays the movement trajectory 303 when the difference angle is equal to or more than the first predetermined value and less than the second predetermined value. The movement locus 303 is displayed in a color different from that of the movement locus 300. In FIG. 17, the difference in color is expressed by the thickness of the line. In this case, the reliability of the estimated traveling direction by the PDR is slightly reduced. Therefore, there is a slight deviation from the actual movement trajectory 200. The control unit 16 displays the movement trajectory 304 when the difference angle becomes equal to or larger than the second predetermined value. The movement locus 304 is displayed in a color different from that of the movement loci 300 and 303. In FIG. 17, the difference in color is expressed by the thickness of the line. In this case, the reliability of the estimated traveling direction by PDR is greatly reduced. Therefore, the deviation from the actual movement locus 200 is large.

  18 and 19 show display examples in which the display mode of FIG. 17 is changed. That is, in the display example shown in FIG. 18, the control unit 16 displays the movement trajectory 305 when the difference angle becomes equal to or more than the first predetermined value. The movement locus 305 is displayed at a different density from the movement locus 300. In FIG. 18, the difference in density is expressed by a line type. The control unit 16 displays the movement locus 306 when the difference angle becomes equal to or larger than the second predetermined value. The movement locus 306 is displayed at a different density than the movement loci 300 and 305. In FIG. 18, the difference in density is expressed by a line type.

  In the display example shown in FIG. 19, when the difference angle becomes equal to or larger than the first predetermined value, the control unit 16 enlarges and displays the current position marker A. When the difference angle becomes equal to or larger than the second predetermined value, the control unit 16 further enlarges and displays the current position marker A.

  In any of the display examples, the control unit 16 can notify the user that the reliability of the estimated traveling direction by the PDR is changing stepwise. 17 to 19 may be displayed when positioning information obtained by another positioning method can not be acquired.

(4-2. Processing Example 2)
Next, processing example 2 by the portable information processing apparatus 10 will be described based on FIG. In this processing example 2, the portable information processing apparatus 10 calculates the specific gravity of the estimated traveling direction by PDR and the estimated traveling direction by another positioning method based on the reliability of the estimated traveling direction by PDR. Then, the portable information processing apparatus 10 calculates the estimated traveling direction of the user based on the specific gravity.

  In Processing Example 2, the control unit 16 performs the same initial attitude determination processing as in Processing Example 1. Thereafter, the control unit 16 performs the reliability determination process shown in FIG.

  First, in steps S130 to S160 and S185 to S200, the control unit 16 performs the same processing as steps S60 to 80 and S100 to S120 shown in FIG.

In step S170, the control unit 16 calculates the specific gravity of the estimated traveling direction by PDR and the estimated traveling direction by another positioning method based on the difference angle between the current attitude of the portable information processing device 10 and the reference attitude. . Here, as the difference angle is larger, the difference between the estimated traveling direction by PDR and the actual traveling direction becomes larger, so the difference angle corresponds to the reliability of the estimated traveling direction by PDR. The control unit 16 may reduce the specific gravity of PDR as the difference angle is larger. For example, the control unit 16 may calculate the specific gravity of PDR based on the following formula (1).
a = (90-b) / 90 (1)
Here, a is the specific gravity of PDR, and b is the difference angle. In addition, a may be 1 when positioning by other positioning methods can not be performed.

In step S180, the control unit 16 calculates the estimated traveling direction of the user based on the specific gravity. For example, the control unit 16 may calculate the estimated traveling direction of the user based on the following formula (2). Other positioning information can be calculated similarly.
c = d (1-a) + e x a (2)
Here, a is the specific gravity of PDR, c is the estimated traveling direction of the user, d is the estimated traveling direction by another positioning method, and e is the estimated traveling direction by PDR. The control unit 16 further displays the estimated traveling direction in a display mode according to the specific gravity. A specific display example will be described later. Thereafter, the control unit 16 ends the reliability determination process. Thereafter, the control unit 16 repeatedly performs the reliability determination process.

  Below, based on FIGS. 20-22, the example of a display by the process example 2 is demonstrated. In the display example of FIG. 20, the display mode is changed to three stages depending on the specific gravity. Of course, the stage of the display mode is not limited to this example. Specifically, the control unit 16 sets the first predetermined value and the second predetermined value (the first predetermined value Set 2). Then, a display mode is set according to three patterns of specific gravity 第 second predetermined value, second predetermined value> specific gravity ≧ first predetermined value, and first predetermined value> specific gravity. The first predetermined value may be, for example, 0.5 (corresponding to a difference angle = 45 °), and the second predetermined value may be, for example, 0.78 (corresponding to a difference angle = 20 °).

  The control unit 16 displays the movement locus 300 when the specific gravity of the PDR is equal to or more than the second predetermined value. In this case, the reliability of the estimated traveling direction by PDR is high, and the specific gravity of PDR is the highest. The control unit 16 displays the movement locus 310 when the specific gravity is less than the second predetermined value and equal to or more than the first predetermined value. The movement locus 310 is displayed in a color different from that of the movement locus 300. In FIG. 20, the difference in color is expressed by the thickness of the line. In this case, since the reliability of the estimated traveling direction by the PDR is slightly reduced, the specific gravity of the PDR is slightly reduced. Control part 16 displays movement locus 320, when specific gravity becomes less than the 1st predetermined value. The movement locus 320 is displayed in a color different from that of the movement loci 300 and 310. In FIG. 20, the difference in color is expressed by the thickness of the line. In this case, since the reliability of the estimated traveling direction by PDR is greatly reduced, the specific gravity of PDR is also significantly reduced.

  21 and 22 show display examples in which the display mode of FIG. 20 is changed. That is, in the display example shown in FIG. 21, the control unit 16 displays the movement locus 330 when the specific gravity is less than the second predetermined value and equal to or more than the first predetermined value. The movement locus 330 is displayed at a different density from the movement locus 300. In FIG. 21, the difference in density is expressed by a line type. The control unit 16 displays the movement locus 340 when the specific gravity is less than the first predetermined value. The movement locus 340 is displayed at a different density than the movement loci 300 and 330. In FIG. 21, the difference in density is expressed by a line type.

  In the display example shown in FIG. 22, the control unit 16 enlarges and displays the current position marker A when the specific gravity is less than the second predetermined value and equal to or more than the first predetermined value. When the specific gravity is less than the first predetermined value, the control unit 16 further enlarges and displays the current position marker A.

  In any of the display examples, the control unit 16 can notify the user that the reliability of the estimated traveling direction by the PDR is changing stepwise.

(4-3. Processing Example 3)
Next, processing example 3 by the portable information processing apparatus 10 will be described based on FIG. In this process example 3, the portable information processing apparatus 10 determines the reliability of the estimated traveling direction by PDR based on the elapsed time since the initial attitude is determined. That is, in PDR, the longer the elapsed time since the determination of the initial posture, the larger the deviation between the estimated traveling direction of the user and the actual traveling direction. Therefore, in processing example 3, when the elapsed time is long, the portable information processing apparatus 10 determines that the reliability of the estimated traveling direction by PDR decreases.

  In Processing Example 3, the control unit 16 performs the same initial attitude determination processing as in Processing Example 1. Thereafter, the control unit 16 performs the reliability determination process shown in FIG.

  First, in steps S210 to S220, the control unit 16 performs the same processing as steps S60 to S70 shown in FIG.

  In step S230, the control unit 16 calculates an elapsed time from the end of the initial attitude determination process. The elapsed time may be an elapsed time after the above-described difference angle becomes equal to or greater than a predetermined value.

  In step S240, the control unit 16 determines whether the elapsed time is equal to or more than a predetermined value. If the control unit 16 determines that the elapsed time is equal to or more than the predetermined value, the process proceeds to step S265, and if it is determined that the elapsed time is less than the predetermined value, the process proceeds to step S250. Here, the predetermined value is not particularly limited, and may be about 400 to 600 seconds, or about 500 seconds.

In steps S250 to S260, the control unit 16 performs the same process as steps S170 to S180 shown in FIG. However, the control unit 16 calculates the specific gravity based on the elapsed time. For example, the control unit 16 may calculate the specific gravity based on the following equation (3).
f = (g−h) / g (3)
Here, f is a specific gravity of PDR, g is a predetermined value used in step S240, and h is an elapsed time. Thereafter, the control unit 16 ends the reliability determination process. Thereafter, the control unit 16 repeatedly performs the reliability determination process.

  On the other hand, in steps S265 to S280, control unit 16 performs the same processing as steps S100 to S120 shown in FIG. Thereafter, the control unit 16 ends the reliability determination process. Thereafter, the control unit 16 repeatedly performs the reliability determination process. The control unit 16 may perform the same process as step S90 instead of the process of steps S250 to S260. In this case, the predetermined value may be set stepwise.

  The display example of the process example 3 is the same as that of the process examples 1 and 2. For example, the control unit 16 can display the same image as that in FIGS. 17 to 19 when the predetermined value is set stepwise. In this case, the first predetermined value may be, for example, about 100 seconds, and the second predetermined value may be about 500 seconds.

  Moreover, the control part 16 can display the image similar to FIGS. 20-22, when an estimated advancing direction is calculated by specific gravity. In this case, the display mode is changed to three stages depending on the specific gravity. Specifically, the control unit 16 sets a first predetermined value and a second predetermined value (first predetermined value <second predetermined value) regarding the specific gravity. Then, a display mode is set according to three patterns of specific gravity 第 second predetermined value, second predetermined value> specific gravity ≧ first predetermined value, and first predetermined value> specific gravity. The first predetermined value may be, for example, 0.1 (g = 500 seconds, elapsed time = 450 seconds), and the second predetermined value may be, for example, 0.8 (g = 500 seconds, elapsed time = 100). Corresponding to seconds).

(4-4. Process example 4)
Next, processing example 4 by the portable information processing apparatus 10 will be described based on FIGS. 12 to 13. In processing examples 1 to 3, the posture change of the portable information processing apparatus 10 is detected, and the reliability of the estimated traveling direction by PDR is determined based on the posture change. That is, in the processing examples 1 to 3, it is detected that the change in the direction of the portable information processing device 10 accompanying the change in the posture of the portable information processing device 10 is detected, and the reliability decreases when the amount of change judge. However, in the usage modes shown in FIGS. 3 to 5, the orientation of the portable information processing device 10 changes without the posture change of the portable information processing device 10. In FIG. 3, although the yaw direction of the portable information processing apparatus 10 changes, the change of the yaw direction does not affect the gravity vector (that is, the detection unit 11 can not detect it). Therefore, in the process examples 1 to 3, it is not possible to detect the change in the orientation of the portable information processing apparatus 10 that occurs in the usage mode of FIGS. Therefore, in the processing example 4, such a change in orientation is detected, and the reliability is evaluated.

  First, the portable information processing device 10 creates a learned dictionary (learning data) by performing the learning process shown in FIG. Specifically, in step S290, an operator (for example, a designer of the portable information processing apparatus 10) who causes the learning device to perform learning performs the portable information processing apparatus 10 in the usage mode illustrated in FIGS. Use That is, the worker uses the portable information processing apparatus 10 in at least one or more types of use modes among the rotation, the lateral movement, and the backward movement of the portable information processing apparatus 10 in the horizontal plane.

  In response to this, the detection unit 11 outputs various detection information to the control unit 16. The control unit 16 buffers these detection information. The detection information includes acceleration information, gyro information, geomagnetic information, and the like. All of these may be buffered, or any one or more may be buffered. The more types of detection information to be buffered, the better the accuracy.

  In step S300, the control unit 16 inputs the buffered detection information to the learning device. Here, the learning device may be incorporated in the portable information processing apparatus 10 or may be incorporated in another information processing apparatus. When the learning device is built in another information processing apparatus, the portable information processing apparatus 10 and the other information processing apparatus may be connected via the interface unit 15. Alternatively, the portable information processing apparatus 10 may communicate with another information processing apparatus via the communication unit 12.

In step S310, the worker gives a label to the detection information input to the learning device. That is, the worker associates the detection information with the label. Here, the labels are, for example, the following two types.
Label 1: Rotation of the portable information processing apparatus 10 in the horizontal plane Label 2: Movement in directions other than the front Therefore, in the processing example 4, although the lateral movement and the backward movement are not distinguished, even if they are distinguished and labeled good. In addition, the usage mode of the label 1 + 2 (for example, rotating the portable information processing apparatus 10 in the horizontal plane while moving laterally) may be separately labeled.

  In step S320, the operator determines whether or not the input of the predetermined number of samples is completed. If completed, the process proceeds to step S330, and if not completed, the process returns to step S290. The number of samples here is not particularly limited, and may be set according to the accuracy or the like required of the portable information processing apparatus 10. The greater the number of samples, the higher the accuracy can be.

  In step S330, the worker causes the portable information processing device 10 to store the information stored in the learning device, that is, the learned dictionary. Detection information and a label are associated and registered in the learned dictionary. Thus, the learning process ends.

  Next, the control unit 16 performs the reliability determination process shown in FIG. The control unit 16 performs positioning by PDR in parallel with the reliability determination process. That is, the control unit 16 specifies the initial orientation of the portable information processing apparatus 10. Next, the control unit 16 calculates the amount of fluctuation of the yaw direction based on detection information (for example, gyro information) output from the detection unit 11. Thereby, the current yaw direction of the portable information processing apparatus 10 is specified. Then, the direction of the portable information processing apparatus 10 is set as the estimated traveling direction of the user.

  In step S340, the control unit 16 acquires detection information from the detection unit 11. Next, in step S350, the control unit 16 collates the acquired detection information with the learned dictionary.

  In step S360, the control unit 16 determines whether a label corresponding to the acquired detection information exists. If the control unit 16 determines that the label corresponding to the acquired detection information exists, the process proceeds to step S380. On the other hand, when the control unit 16 determines that the label does not exist, the process proceeds to step S370.

  In steps S380 and S390, the control unit 16 performs the same processing as steps S100 to S110 shown in FIG. Thereafter, the control unit 16 ends the reliability determination process. Thereafter, the control unit 16 repeatedly performs the reliability determination process.

  In step S370, the control unit 16 performs the same process as step S90 shown in FIG. Thereafter, the control unit 16 ends the reliability determination process. Thereafter, the control unit 16 repeatedly performs the reliability determination process. According to processing example 4, even when the user uses the portable information processing apparatus 10 in the usage mode illustrated in FIGS. 3 to 5, the control unit 16 indicates that the reliability of the estimated traveling direction has decreased. The user can be notified. Also in the processing example 4, the specific gravity may be calculated as in the processing examples 2 and 3, and the estimated traveling direction may be calculated based on the specific gravity. However, in processing example 4, since there is a shift in the yaw direction that has the largest influence on the position accuracy, use of PDR positioning information by PDR should be stopped when the reliability is lowered as in this flowchart. Is preferred. Further, processing examples 1 to 4 may be arbitrarily combined. For example, when processing examples 1 and 4 are combined, when the user changes the portable information processing apparatus 10, or when moving laterally, the control unit 16 determines the estimated traveling direction by PDR. It can be determined that the reliability has dropped.

  As described above, according to the present embodiment, the control unit 16 calculates the estimated traveling direction of the user based on the detection information output from the detection unit 11 incorporated in the portable information processing apparatus 10. That is, the control unit 16 calculates the estimated traveling direction of the user using PDR. Then, the control unit 16 determines the reliability of the estimated traveling direction by PDR.

  The control unit 16 also calculates the change in posture of the portable information processing device 10 based on the detection information, and determines the reliability based on the change in posture of the portable information processing device 10. Therefore, for example, when the user uses the portable information processing apparatus 10 in the usage mode (so-called holding) shown in FIG. 1 and FIG. 2, the control unit 16 can determine the decrease in reliability.

  Further, since the control unit 16 determines the reliability of the estimated traveling direction by PDR based on the difference between the current posture of the portable information processing device 10 and the predetermined reference posture, the reliability is determined more accurately. can do.

  In addition, when the difference between the current attitude of the portable information processing apparatus 10 and the reference attitude becomes equal to or larger than the predetermined value, the control unit 16 determines that the reliability of the estimated traveling direction by the PDR is lowered. The reliability can be determined with higher accuracy.

  In addition, since the control unit 16 sets the predetermined value in stages, the reliability can be determined with higher accuracy.

  In addition, since the control unit 16 sets the reference attitude based on the detection information, the reliability can be determined with higher accuracy.

  Further, the control unit 16 sets the initial attitude of the portable information processing apparatus based on the detection information, and determines that the amount of decrease in reliability is larger as the elapsed time after setting the initial attitude is longer. The positioning by PDR tends to be less reliable as the elapsed time from the positioning start time is longer. According to the present embodiment, such a decrease in reliability can also be detected.

  In addition, the control unit 16 determines the reliability of the estimated traveling direction by PDR based on the detection information and the learning data in which the use mode of the portable information processing apparatus 10 is associated. Therefore, when the user uses the portable information processing apparatus 10 in the usage mode registered in the learning data, the control unit 16 can determine the decrease in reliability.

  Further, the control unit 16 determines whether or not the use mode of the portable information processing apparatus 10 by the user matches the use mode registered in the learning data, based on the detection information. Then, when it is determined that the use mode of the portable information processing device 10 by the user matches the use mode registered in the learning data, the control unit 16 determines that the reliability has decreased. Therefore, the control unit 16 can determine the reliability with higher accuracy.

  Further, the use mode registered in the learning data includes at least one selected from the group consisting of rotation of the portable information processing apparatus 10 in the horizontal plane, lateral movement of the user, and backward movement. Therefore, the control unit 16 reduces the reliability, for example, when the user uses the portable information processing apparatus 10 in the usage mode (rotation in the horizontal plane, lateral movement, backward movement) shown in FIGS. 3 to 5. Can be determined.

  In addition, when it is determined that the reliability of the estimated traveling direction by the PDR has decreased, the control unit 16 performs control to present the fact that the reliability has decreased to the user. The presentation is performed by, for example, image display, audio output, and the like. Thereby, the user can easily grasp that the reliability of the estimated traveling direction by the PDR has decreased.

  In addition, since the control unit 16 performs control of presenting the estimated traveling direction of the user in a presentation manner according to the reliability, the user can easily grasp how much the reliability has decreased.

  In addition, the control unit 16 calculates the estimated traveling direction of the user based on the detection information, and when the reliability decreases, calculates the estimated traveling direction of the user by another positioning method. Therefore, the control unit 16 can present the user with the estimated traveling direction with more stable accuracy even when the reliability of the estimated traveling direction by the PDR decreases.

  In addition, when the control unit 16 can calculate the estimated traveling direction of the user by another positioning method, the control unit 16 resumes the calculation of the estimated traveling direction of the user based on the detection information. Thus, the control unit 16 can perform positioning by PDR more accurately.

  Further, the control unit 16 determines, based on the reliability, the specific gravity between the estimated traveling direction by PDR and the estimated traveling direction by another positioning method. Then, the control unit 16 calculates the estimated traveling direction of the user based on the specific gravity. Therefore, the control unit 16 can present the user with the estimated traveling direction with more stable accuracy.

  Further, the control unit 16 reduces the specific gravity of the estimated traveling direction by the PDR as the reliability is lower, so that the estimated traveling direction with more stable accuracy can be presented to the user.

  In addition, since the control unit 16 performs control to present the estimated traveling direction of the user in a presentation manner according to the specific gravity, the user can easily grasp the reliability of the current PDR.

  The preferred embodiments of the present disclosure have been described in detail with reference to the accompanying drawings, but the technical scope of the present disclosure is not limited to such examples. It is obvious that those skilled in the art of the present disclosure can conceive of various modifications or alterations within the scope of the technical idea described in the claims. It is understood that also of course falls within the technical scope of the present disclosure.

  For example, in the above embodiment, the portable information processing apparatus 10 performs all the processing according to the present embodiment, but the present technology is not limited to such an example. For example, another process according to the present embodiment, for example, positioning by PDR, evaluation of reliability, or learning using a learning device may be performed by another information processing apparatus.

  In addition, the effects described in the present specification are merely illustrative or exemplary, and not limiting. That is, the technology according to the present disclosure can exhibit other effects apparent to those skilled in the art from the description of the present specification, in addition to or instead of the effects described above.

The following configurations are also within the technical scope of the present disclosure.
(1)
An information processing apparatus, comprising: a control unit that determines the reliability of positioning information of a user calculated based on detection information output from a detection unit incorporated in the portable information processing apparatus.
(2)
The control unit calculates a change in posture of the portable information processing apparatus based on the detection information, and determines the reliability based on a change in posture of the portable information processing apparatus. Information processing equipment.
(3)
The information processing apparatus according to (2), wherein the control unit determines the reliability based on a difference between a current attitude of the portable information processing apparatus and a predetermined reference attitude.
(4)
The information according to (3), wherein the control unit determines that the reliability has decreased when the difference between the current attitude of the portable information processing device and the reference attitude is equal to or greater than a predetermined value. Processing unit.
(5)
The information processing apparatus according to (4), wherein the control unit sets the predetermined value stepwise.
(6)
The information processing apparatus according to any one of (3) to (5), wherein the control unit sets the reference attitude based on the detection information.
(7)
The control unit sets an initial attitude of the portable information processing apparatus based on the detection information, and determines that the reduction amount of the reliability is larger as the elapsed time after setting the initial attitude is longer. The information processing apparatus according to any one of (1) to (6).
(8)
In any one of (1) to (7), the control unit determines the reliability on the basis of learning data in which the detection information is associated with a use mode of the portable information processing apparatus. Information processor as described.
(9)
The control unit determines whether the use mode of the portable information processing apparatus by the user matches the use mode registered in the learning data, based on the detection information, and the portable information processing by the user The information processing apparatus according to (8), wherein when it is determined that the use mode of the apparatus matches the use mode registered in the learning data, the reliability is determined to be lowered.
(10)
The use mode registered in the learning data includes any one or more selected from the group consisting of rotation of the portable information processing device in a horizontal plane, lateral movement of the user, and backward movement. (9) The information processing apparatus according to the above.
(11)
The controller according to any one of (1) to (10), wherein, when it is determined that the reliability has decreased, the control unit performs control to present the fact that the reliability has decreased to the user. Information processing device.
(12)
The information processing apparatus according to any one of (1) to (11), wherein the control unit performs control of presenting positioning information of the user in a presentation mode according to the reliability.
(13)
The control unit calculates positioning information of the user based on the detection information, and when the reliability is lowered, calculates positioning information of the user by another positioning method. The information processing apparatus according to any one of (12).
(14)
The information processing apparatus according to (13), wherein the control unit resumes calculation of positioning information of the user based on the detection information when the positioning information of the user can be calculated by the other positioning method.
(15)
The control unit determines, based on the reliability, the specific gravity of the user's positioning information calculated based on the detection information and the user's positioning information calculated by another positioning method, and based on the specific gravity. The information processing apparatus according to any one of (1) to (14), which calculates positioning information of the user.
(16)
The information processing apparatus according to (15), wherein the control unit reduces the specific gravity of the user's positioning information calculated based on the detection information as the reliability is lower.
(17)
The information processing apparatus according to (15) or (16), wherein the control unit performs control of presenting the positioning information of the user in a presentation mode according to the specific gravity.
(18)
The information processing apparatus according to any one of (1) to (17), wherein the positioning information includes at least one or more of an estimated traveling direction, a velocity, and a position of the user.
(19)
An information processing method comprising: determining a reliability of positioning information of a user calculated based on detection information output from a detection unit incorporated in the portable information processing apparatus.
(20)
On the computer
A program for realizing a control function of determining the reliability of positioning information of a user calculated based on detection information output from a detection unit incorporated in a portable information processing apparatus.

DESCRIPTION OF SYMBOLS 10 Portable information processing apparatus 11 Detection part 12 Communication part 13 Operation part 14 Display part 15 Interface part 16 Control part

Claims (20)

  An information processing apparatus, comprising: a control unit that determines the reliability of positioning information of a user calculated based on detection information output from a detection unit incorporated in the portable information processing apparatus.   The said control part calculates the attitude | position change of the said portable information processing apparatus based on the said detection information, and determines the said reliability based on the attitude | position change of the said portable information processing apparatus. Information processing device.   The information processing apparatus according to claim 2, wherein the control unit determines the reliability based on a difference between a current attitude of the portable information processing apparatus and a predetermined reference attitude.   The information processing according to claim 3, wherein the control unit determines that the reliability has decreased when a difference between a current attitude of the portable information processing device and the reference attitude is equal to or more than a predetermined value. apparatus.   The information processing apparatus according to claim 4, wherein the control unit sets the predetermined value stepwise.   The information processing apparatus according to claim 3, wherein the control unit sets the reference attitude based on the detection information.   The control unit sets an initial attitude of the portable information processing apparatus based on the detection information, and determines that the reduction amount of the reliability is larger as the elapsed time after setting the initial attitude is longer. The information processing apparatus according to claim 1.   The information processing apparatus according to claim 1, wherein the control unit determines the reliability on the basis of learning data in which the detection information is associated with a use mode of the portable information processing apparatus.   The control unit determines whether the use mode of the portable information processing apparatus by the user matches the use mode registered in the learning data, based on the detection information, and the portable information processing by the user 9. The information processing apparatus according to claim 8, wherein when it is determined that the use mode of the apparatus matches the use mode registered in the learning data, it is determined that the reliability is lowered.   The use mode registered in the learning data includes at least one selected from the group consisting of rotation of the portable information processing device in a horizontal plane, lateral movement of the user, and backward movement. 10. An information processing apparatus according to item 9.   The information processing apparatus according to claim 1, wherein, when it is determined that the reliability has decreased, the control unit performs control to present the fact that the reliability has decreased to a user.   The information processing apparatus according to claim 1, wherein the control unit performs control of presenting the positioning information of the user in a presentation mode according to the reliability.   The said control part calculates the positioning information of the said user based on the said detection information, When the said reliability falls, the positioning information of the said user is calculated by another positioning method. Information processing device.   The information processing apparatus according to claim 13, wherein the control unit resumes calculation of positioning information of the user based on the detection information when the positioning information of the user can be calculated by the other positioning method.   The control unit determines, based on the reliability, the specific gravity of the user's positioning information calculated based on the detection information and the user's positioning information calculated by another positioning method, and based on the specific gravity. The information processing apparatus according to claim 1, wherein the positioning information of the user is calculated.   The information processing apparatus according to claim 15, wherein the control unit reduces the specific gravity of the user's positioning information calculated based on the detection information as the reliability is lower.   The information processing apparatus according to claim 15, wherein the control unit performs control of presenting the positioning information of the user in a presentation mode according to the specific gravity.   The information processing apparatus according to claim 1, wherein the positioning information includes at least one or more of an estimated traveling direction, a velocity, and a position of the user.   20. An information processing method, comprising: determining by a processor a reliability of positioning information of a user calculated based on detection information output from a detection unit incorporated in the portable information processing apparatus. On the computer
A program for realizing a control function of determining the reliability of positioning information of a user calculated based on detection information output from a detection unit incorporated in a portable information processing apparatus.

Images